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Abstract

Interchangeable jaw holders are required to enable a robot to pick up either 8-inch or 14-inch diameter disks by their differing internal diameters. Shown and described is the hardware that the robot uses to pick up either size disk and to automatically change the hardware, as required. In Fig. 1, the robot arm 6 presents the robot hand 5 to which jaw holders are selectively attached. Each of the jaw holders 8 and 9 is retained by the robot hand, as shown in Fig. 2. The tapered projection 12 on jaw holder 9 is received in a similarly tapered but deeper recess 13 through which a vacuum is selectively applied through vacuum tube 15 to retain the jaw holder. As shown in Figs. 3A and 3B, the jaw holder sets for handling disks with differing internal diameters are retained, when not in use, in holding fixtures 17 and 18.

Country

United States

Language

English (United States)

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Robotic Pick-Up Device

Interchangeable jaw holders are required to enable a robot to pick up either 8-
inch or 14-inch diameter disks by their differing internal diameters. Shown and
described is the hardware that the robot uses to pick up either size disk and to
automatically change the hardware, as required. In Fig. 1, the robot arm 6
presents the robot hand 5 to which jaw holders are selectively attached. Each of
the jaw holders 8 and 9 is retained by the robot hand, as shown in Fig. 2. The
tapered projection 12 on jaw holder 9 is received in a similarly tapered but
deeper recess 13 through which a vacuum is selectively applied through vacuum
tube 15 to retain the jaw holder. As shown in Figs. 3A and 3B, the jaw holder sets
for handling disks with differing internal diameters are retained, when not in use,
in holding fixtures 17 and 18. Fixture 18 is shown holding the jaw holders 8 and 9
for handling the larger disk size. The fixture 17 is shown with the jaw holders
removed. The jaw holder projections 12 face upward and are the same distance
apart in the respective fixtures to provide a known position for pick up by the
robot hand. The lower jaw holder 9 is aligned between rails 19 with the single
projecting jaw received in a cylindrical opening 21. The upper jaw holder 8 has a
pair of jaws received in a pair of openings 23 and requires no further alignment.
Each of the fixtures 17 and 18 is formed as a sandwich structure with metal
frames 25 separated by a ri...